US20170160401A1 - Vehicle Navigation System Having Location Assistance from Neighboring Vehicles - Google Patents
Vehicle Navigation System Having Location Assistance from Neighboring Vehicles Download PDFInfo
- Publication number
- US20170160401A1 US20170160401A1 US14/959,413 US201514959413A US2017160401A1 US 20170160401 A1 US20170160401 A1 US 20170160401A1 US 201514959413 A US201514959413 A US 201514959413A US 2017160401 A1 US2017160401 A1 US 2017160401A1
- Authority
- US
- United States
- Prior art keywords
- vehicle
- neighboring
- location
- host vehicle
- host
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
Definitions
- the present disclosure relates to a navigation system of a host vehicle communicating with a neighboring vehicle to obtain information indicative of the location of the host vehicle.
- a navigation system of a vehicle uses the location of the vehicle in providing navigation functions.
- the navigation system communicates with, for example, a global navigation satellite system (GNSS) to obtain information indicative of the location of the vehicle.
- GNSS global navigation satellite system
- the navigation system uses this information to detect the location of the vehicle and uses the detected vehicle location in providing navigation functions.
- the navigation system may be unable to communicate with the GNSS to obtain information indicative of the location of the vehicle. Consequently, the navigation system is unable to detect the location of the vehicle.
- the navigation system may have a malfunctioned global positioning system (GPS) receiver unable to communicate with the GNSS; or the GPS receiver and the GNSS are unable to communicate with one another due to the vehicle being driven through a tunnel, an area with tall buildings, etc. In the latter cases, communication between the GPS receiver and the GNSS is prevented due to the tunnel or buildings or other obstruction attenuating or obstructing the communication signals.
- GPS global positioning system
- a navigation system for a host vehicle includes a transceiver and a controller.
- the transceiver is configured to communicate with a neighboring vehicle to obtain a location of the neighboring vehicle.
- the controller is configured to output navigation information including a location of the host vehicle based on the location of the neighboring vehicle, a distance between the host vehicle and the neighboring vehicle based on duration of a communication between the transceiver and the neighboring vehicle, and a detected relative angle between the host vehicle and the neighboring vehicle.
- the navigation system may further include a global positioning system (GPS) receiver configured to obtain information indicative of the location of the host vehicle from a remote source.
- GPS global positioning system
- the controller is further configured to control the transceiver to communicate with the neighboring vehicle to obtain the location of the neighboring vehicle while the GPS receiver is unable to obtain the information indicative of the location of the host vehicle from the remote source.
- the transceiver may be further configured to communicate with a second neighboring vehicle to obtain a location of the second neighboring vehicle.
- the controller is further configured to output the location of the host vehicle further based on the location of the second neighboring vehicle.
- the navigation system may further include a driver vehicle interface configured to receive the detected relative angle between the host vehicle and the neighboring vehicle from a user of the host vehicle.
- the controller may be further configured to use a camera of the host vehicle to obtain the detected relative angle between the host vehicle and the neighboring vehicle.
- a navigation method for a host vehicle includes communicating between the host vehicle and a neighboring vehicle for the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle.
- the method further includes detecting a distance between the host vehicle and the neighboring vehicle based on duration of a communication between the host vehicle and the neighboring vehicle and detecting a relative angle between the host vehicle and the neighboring vehicle.
- the method further includes outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the neighboring vehicle, the distance between the host vehicle and the neighboring vehicle, and the relative angle between the host vehicle and the neighboring vehicle.
- Another navigation method for a host vehicle includes communicating between the host vehicle and a neighboring vehicle for the host vehicle to request the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle. This method further includes relaying the request of the host vehicle from the neighboring vehicle to a third vehicle to request the third vehicle to provide a location of the third vehicle to the neighboring vehicle, and relaying the location of the third vehicle from the neighboring vehicle to the host vehicle. This method further includes outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the third vehicle.
- FIG. 1 illustrates a block diagram of a navigation system of a vehicle
- FIG. 2 illustrates a block diagram of the navigation system of a host vehicle communicating with a neighboring vehicle to obtain the location of the neighboring vehicle and to detect a distance between the host vehicle and the neighboring vehicle;
- FIG. 3 illustrates a schematic diagram of the host vehicle and neighboring vehicles driving on the same portion of a road with the navigation system of the host vehicle communicating with one or more of the neighboring vehicles;
- FIG. 4 illustrates a flowchart depicting operation of the navigation system of the host vehicle communicating with a neighboring vehicle to obtain the location of the neighboring vehicle and to detect the distance between the host vehicle and the neighboring vehicle for the navigation system to detect the host vehicle's location based on the location of the neighboring vehicle and the distance between the host vehicle and the neighboring vehicle;
- FIG. 5A illustrates a schematic diagram of the host vehicle and a neighboring vehicle driving on a road with the navigation system of the host vehicle using a detected relative angle between the host vehicle and the neighboring vehicle in detecting the host vehicle's location;
- FIG. 5B illustrates a schematic diagram of geometry corresponding to the relative angle between the host vehicle and the neighboring vehicle.
- Navigation system 10 includes a global positioning system (GPS) receiver 14 , a controller 16 , a driver vehicle interface 18 , and a transceiver 20 .
- Transceiver 20 is for vehicle-to-vehicle (V2V) communications.
- Transceiver 20 may employ Dedicated Short Range Communication (DSRC) technology.
- DSRC transceiver 20 may be referred to herein as “DSRC transceiver” 20 .
- GPS receiver 14 communicates with a remote global navigation satellite system (GNSS) or the like to obtain information indicative of the location of vehicle 12 from the GNSS.
- Controller 16 detects the location of vehicle 12 from the information obtained by GPS receiver 14 indicative of the location of vehicle 12 .
- Controller 16 generates navigation information based on the location of vehicle 12 and outputs the navigation information to driver vehicle interface 18 .
- Driver vehicle interface 18 may include a display screen or the like which displays the location of vehicle 12 on a map for the driver to view. This process is ongoing so that driver vehicle interface 18 is updated as the location of vehicle 12 changes while the vehicle is being driven.
- Transceiver 20 is able to communicate with corresponding V2V transceivers of vehicles which are located within the vicinity of vehicle 12 .
- a vehicle is within the vicinity of vehicle 12 when, for example, both vehicles are driving along the same portion of a road.
- Vehicles within the vicinity of vehicle 12 may be referred to herein as “neighboring vehicles,” “remote vehicles,” or “neighboring (remote) vehicles.”
- vehicle 12 may be referred to herein as “the vehicle” or the “host vehicle.”
- DSRC transceiver 20 of vehicle 12 is able to communicate with the DSRC transceiver of a neighboring vehicle over a wireless vehicle communications network (e.g., a DSRC communications network). In this way, vehicle 12 is able to communicate with neighboring vehicles. Further, using DSRC communications, a neighboring vehicle within the vicinity of vehicle 12 may communicate with a third vehicle that is within the vicinity of the neighboring vehicle but is out of the vicinity of vehicle 12 .
- a wireless vehicle communications network e.g., a DSRC communications network
- GPS receiver 14 may be unable to communicate with the GNSS to obtain information indicative of the location of vehicle 12 .
- GPS receiver 14 may be malfunctioned or may be unable to communicate with the GNSS due to vehicle 12 being driven through a tunnel or an area with tall buildings.
- GPS receiver 14 may be unable to communicate with the GNSS when the tunnel or buildings block the communication signals between GPS receiver 14 and the GNSS.
- GPS receiver 14 does not provide controller 16 with information indicative of the location of vehicle 12 when the GPS receiver is unable to communicate with the GNSS. Consequently, without being provided with information indicative of the location of vehicle 12 from another source, controller 16 is unable to detect the location of vehicle 12 . As a result, controller 16 is unable to output navigation information based on the location of vehicle 12 to driver vehicle interface 18 .
- FIG. 2 a block diagram of navigation system 10 of host vehicle 12 in communication with a neighboring vehicle 22 is shown.
- Navigation system 10 is able to communicate with neighboring vehicle 22 via a DSRC communications network. More descriptively, DSRC transceiver 20 of navigation system 10 and a DSRC transceiver 24 of neighboring vehicle 22 are able to communicate with one another.
- controller 16 of navigation system 10 is unable to detect the location of host vehicle 12 using information from GPS receiver 14 when the GPS receiver is unable to obtain such information.
- a solution includes another source providing controller 16 with information indicative of the location of host vehicle 12 .
- navigation system 10 of host vehicle 12 communicates with one or more neighboring vehicles to obtain information indicative of the location of host vehicle 12 .
- transceiver 20 of host vehicle 12 communicates with transceiver 24 of neighboring vehicle 22 to obtain the location of the neighboring vehicle.
- the location of the neighboring vehicle is generally indicative of the location of host vehicle 12 .
- the communication process itself e.g., duration of time consumed for transmitting and receiving RF signals between transceiver 20 of host vehicle 12 and transceiver 24 of neighboring vehicle 22
- the detected distance between host vehicle 12 and neighboring vehicle 24 in conjunction with the location of the neighboring vehicle is further indicative of the location of host vehicle 12 .
- Neighboring vehicle 22 includes its own navigation system having a GPS receiver 26 and a controller 28 .
- GPS receiver 26 of neighboring vehicle 22 is able to communicate with the GNSS to obtain information indicative of the location of neighboring vehicle 22 .
- GPS receiver 26 of neighboring vehicle 22 is not malfunctioned, neighboring vehicle 22 is not within a tunnel, tall buildings do not block communication signals with GPS receiver 26 , etc.
- Controller 28 of neighboring vehicle 22 detects the location of neighboring vehicle 22 from the information obtained by GPS receiver 26 indicative of the location of neighboring vehicle 22 .
- Navigation system 10 of host vehicle 12 employs transceiver 20 to communicate with transceiver 24 of neighboring vehicle 22 when GPS receiver 14 is unable to provide information indicative of the location of host vehicle 12 .
- the communications include transceiver 20 of host vehicle 12 (“host transceiver 20 ”) requesting transceiver 24 of neighboring vehicle 22 (“neighboring transceiver 24 ”) to transmit the location of neighboring vehicle 22 to host transceiver 20 .
- Neighboring transceiver 24 responds by transmitting the location of neighboring vehicle 22 to host transceiver 20 .
- Controller 16 receives the location of neighboring vehicle 22 from host transceiver 20 .
- Controller 16 detects the general location of host vehicle 12 as being the obtained location of neighboring vehicle 22 .
- Controller 16 detects the general location of host vehicle 12 being the location of neighboring vehicle 22 as the host vehicle and the neighboring vehicle are within the vicinity of one another. Controller 16 analyzes the communication signal transmission time between transceivers 20 and 24 to detect a distance between host vehicle 12 and neighboring vehicle 22 . Controller 16 uses the detected distance to further specify the detected general location of host vehicle 12 .
- FIG. 3 illustrates a schematic diagram of host vehicle 12 and neighboring vehicles 22 a , 22 b , 22 c , and 22 d driving on the same portion of a road 30 with navigation system 10 of host vehicle 12 communicating with one or more of the neighboring vehicles.
- FIG. 4 illustrates a flowchart 40 depicting the operation of navigation system 10 in communicating with one or more of the neighboring vehicles 22 .
- Navigation system 10 of host vehicle 12 initiates communication with one or more neighboring vehicles 22 when GPS receiver 14 of navigation system 10 is unable to obtain location information indicative of the location of host vehicle 12 .
- the communication involves host transceiver 20 communicating with transceiver 24 of a neighboring vehicle 22 to obtain the location of the neighboring vehicle.
- Controller 16 of navigation system 10 is thus made aware that the general location of host vehicle 12 is the location of neighboring vehicle 22 .
- Controller 16 analyzes the communications to detect a distance between host vehicle 12 and neighboring vehicle 22 . As such, controller 16 detects the location of host vehicle 12 based on the location of neighboring vehicle 22 and the distance between the host vehicle and the neighboring vehicle.
- the operation commences when GPS receiver 14 of navigation system 10 is unable to obtain location information indicative of the location of host vehicle 12 during a given time period for whatever reason as indicated in block 42 of FIG. 4 .
- controller 16 controls host transceiver 20 to communicate with one or more neighboring vehicles 22 to obtain the location of each of the one or more neighboring vehicles as indicated in block 44 of FIG. 4 .
- host transceiver 20 communicates with the DSRC transceiver of first neighboring vehicle 22 a via a first DSRC network path 32 a and with the DSRC transceiver of second neighboring vehicle 22 b via a second DSRC network path 32 b .
- the communications include host transceiver 20 requesting from first neighboring vehicle 22 a the location of the first neighboring vehicle and the DSRC transceiver of the first neighboring vehicle transmitting the location of the first neighboring vehicle to host transceiver 20 .
- the communications include host transceiver 20 requesting from second neighboring vehicle 22 b the location of the second neighboring vehicle and the DSRC transceiver of the second neighboring vehicle transmitting the location of the second neighboring vehicle to host transceiver 20 .
- host vehicle 12 and neighboring vehicles 22 a , 22 b , and 22 c are traveling in the same direction on road 30 whereas neighboring vehicle 22 d is traveling in the opposite direction on the road.
- host transceiver 20 communicates with neighboring vehicles 22 traveling in the same direction with host vehicle 12 to obtain the locations of these neighboring vehicles.
- Neighboring vehicles 22 traveling in the same direction as host vehicle 12 can provide continuous location data.
- Controller 16 of navigation system 10 receives from host transceiver 20 the location of a neighboring vehicle 22 and detects the general location of host vehicle 12 as being the location of the neighboring vehicle as indicated in block 46 of FIG. 4 .
- controller 16 uses the locations of the first and second neighboring vehicles in conjunction with one another to improve the accuracy of the detected location of host vehicle 12 .
- host transceiver 20 can communicate with multiple neighboring vehicles 22 to improve the accuracy of the detected location of host vehicle 12 .
- the neighboring vehicles are dynamic. If a neighboring vehicle no longer stays with host vehicle 12 on the route, then DSRC transceiver 20 can communicate with other neighboring vehicles.
- Controller 16 of navigation system 10 detects the distance between host vehicle 12 and a neighboring vehicle 22 (e.g., distance “Delta_d” 34 a between host vehicle 12 and neighboring vehicle 22 a in FIG. 3 ) based on the time duration of communication between host transceiver 20 and the transceiver of the neighboring vehicle as indicated in block 48 of FIG. 4 .
- a neighboring vehicle 22 e.g., distance “Delta_d” 34 a between host vehicle 12 and neighboring vehicle 22 a in FIG. 3
- controller 16 detects the distance between host vehicle 12 and neighboring vehicle 22 via DSRC technology.
- a method could be follows: host transceiver 20 sends a “ping” to transceiver 24 of neighboring vehicle 22 ; host transceiver 20 receives “reply” of the ping from neighboring transceiver 24 ; and controller 16 calculates the round-trip time of “ping”-“reply”, which is indicative of the distance between host vehicle 12 and neighboring vehicle 22 .
- T_process the message processing time in a DSRC transceiver is fixed as T_process.
- the round-trip time (T_rtt) is then equal to 2*(T_process+signal_travel_time between vehicles 12 and 22 ).
- Another method uses an ultrasonic sensor to measure the distance between vehicles 12 and 22 .
- Controller 16 likewise detects the distances between host vehicle 12 and other neighboring vehicles 22 (e.g., distance 34 b between host vehicle 12 and second neighboring vehicle 22 b ) in communication with navigation system 10 .
- Controller 16 detects the location of host vehicle 12 based on the obtained location of a neighboring vehicle 22 and the detected distance between host vehicle 12 and the neighboring vehicle as indicated in block 50 of FIG. 4 . For instance, in the example in which host transceiver 20 obtains the locations of first and second neighboring vehicles 22 a and 22 b and detects distances between host vehicle 12 and each of the first and second neighboring vehicles, controller 16 uses the obtained locations and the detected distances in conjunction with one another to further improve the accuracy of the detected location of host vehicle 12 .
- Controller 16 uses the detected location of host vehicle 12 in providing navigation information to driver vehicle interface 18 as indicated in block 52 of FIG. 4 . Alternately, controller 16 may use the detected general location of host vehicle 12 (detected in block 46 of FIG. 4 ) in providing navigation information to driver vehicle interface 18 when the distance between host vehicle 12 and neighboring vehicle 22 is relatively small.
- a neighboring vehicle 22 within the vicinity of host vehicle 12 may communicate with a third vehicle that is within the vicinity of the neighboring vehicle, but it not within the vicinity of host vehicle 12 .
- the third vehicle is a neighboring vehicle to neighboring vehicle 22 , but is not a neighboring vehicle to host vehicle 12 .
- the third vehicle is third vehicle 22 c shown in FIG. 3 .
- Third vehicle 22 c is therefore considered to be within the vicinity of first neighboring vehicle 22 a , but is not considered to be within the vicinity of host vehicle 12 . Accordingly, navigation system 10 of host vehicle 12 does not communicate directly with third vehicle 22 c.
- first neighboring vehicle 22 a can communicate directly with third vehicle 22 c and may therefore relay a location request from host vehicle 12 to the third vehicle.
- Such capability may be employed when the GPS receivers of both host vehicle 12 and first neighboring vehicle 22 a are unable to obtain information indicative of the locations of their respective vehicles. This may occur when both host vehicle 12 and first neighboring vehicle 22 a are in a tunnel or an area with tall buildings.
- third vehicle 22 c is farther down road 30 and therefore is out of the tunnel or the area with tall buildings. Accordingly, the GPS receiver of third vehicle 22 c is able to obtain information indicative of the location of the third vehicle.
- navigation system 10 of host vehicle 12 transmits a location request to first neighboring vehicle 22 a which relays the request to third vehicle 22 c .
- Third vehicle 22 c responds to the request by transmitting its location to first neighboring vehicle 22 a which in turn relays the location of third vehicle 22 c to navigation system 10 .
- the communication signal relayed from first neighboring vehicle 22 a to host transceiver 20 may include information indicating that the location request was relayed to third vehicle 22 c or the like.
- Controller 16 of navigation system 10 receives from host transceiver 20 the location of third vehicle 22 c and detects the general location of host vehicle 12 as being the location of the third vehicle.
- the location request may be relayed by the neighboring vehicles to eventually reach a vehicle located outside of the tunnel.
- the relaying may include relaying between multiple vehicles in a sequential fashion or the like (e.g., between a neighboring vehicle of host vehicle 12 and one or more other vehicles which are not within the vicinity of host vehicle 12 ) until a vehicle having an operable GPS receiver responds with its location.
- host vehicle 12 may not be able to obtain the location data directly from its immediate neighboring vehicles 22 .
- Immediate neighboring vehicles 22 may request the data from their immediate neighboring vehicles, who in turn may request the data from their immediate neighbors.
- the location data can be obtained from a vehicle at the exit (or entrance) of the tunnel.
- FIGS. 5A and 5B illustrates a schematic diagram of host vehicle 12 and neighboring vehicle 22 driving on a road with navigation system 10 using a detected relative angle ⁇ between host vehicle 12 and neighboring vehicle 22 in detecting the location of host vehicle 12 .
- FIG. 5B illustrates a schematic diagram of geometry corresponding to the relative angle ⁇ between host vehicle 12 and neighboring vehicle 22 .
- the operation of navigation system 10 using detected relative angle ⁇ between host vehicle 12 and a neighboring vehicle 22 in detecting the location of host vehicle 12 follows the operation of navigation system 10 in obtaining the location of neighboring vehicle 22 and detecting a distance 34 between host vehicle 12 and neighboring vehicle 22 .
- host transceiver 20 communicates with neighboring vehicle 22 for the neighboring vehicle to provide its location to navigation system 10 of host vehicle 12 and controller 16 of navigation system 10 analyzes the communication duration to detect distance 34 between host vehicle 12 and the neighboring vehicle.
- controller 16 detects the location of host vehicle 12 based on the location of neighboring vehicle 22 and the distance between the host vehicle and the neighboring vehicle.
- Controller 16 further refines the detected location of host vehicle 12 using relative angle ⁇ between host vehicle 12 and neighboring vehicle 22 .
- controller 16 uses the exterior cameras or the like of host vehicle 12 to detect relative angle ⁇ between host vehicle 12 and neighboring vehicle 22 (indicated in block 54 of FIG. 4 ).
- the driver of host vehicle 12 may manually input relative angle ⁇ to controller 16 via driver vehicle interface 18 .
- Delta_latitude cosine( ⁇ _ n )*Delta_ d
- Controller 16 therefore detects a more accurate location of host vehicle 12 based on the location of neighboring vehicle, the detected distance 34 between host vehicle 12 and neighboring vehicle 22 , and the Delta_longitude and Delta_latitude components (indicated in block 56 of FIG. 4 ). Controller 16 uses the Delta_longitude and Delta_lattitude components to calculate the location of host vehicle 12 in coordinates decimal degrees.
- FIGS. 5A and 5B The description regarding FIGS. 5A and 5B is obviously just one example.
- the road direction could be in any other direction.
- the calculations for other road directions would be done in similar fashion as described with regards to FIGS. 5A and 5B .
- Controller 16 continues to calculate the location data (i.e., the latitude and longitude) of host vehicle 12 using the location of neighboring vehicle, the detected distance 34 between host vehicle 12 and neighboring vehicle 22 , and the Delta_longitude and Delta_latitude components in accordance with the following algorithm.
- d Lon Delta_longtitude/( R *Cosine( Pi *Neighboring_vehicle_latitude/180))
- Host_vehicle_latitude Neighboring_vehicle_latitude+ d Lat*180 /Pi
- Host_vehicle_longitude Neighboring_vehicle_longitude+ d Lon*180 /Pi
- Controller 16 uses this more accurate detected location of host vehicle 12 in providing navigation information to driver vehicle interface 18 .
- host vehicle 12 and neighboring vehicles are all in a tunnel, then the neighboring vehicle next to a vehicle located outside of the tunnel can calculate the location data similarly and then relay its calculated location data to its next neighboring vehicle in the tunnel. Its next neighboring vehicle then calculates its location data and relays to its neighboring vehicle behind. In this fashion, host vehicle 12 can eventually obtain the location data of its neighboring vehicle just in front of it, and calculate its location data.
Abstract
A navigation system for a host vehicle includes a transceiver and a controller. The transceiver is configured to communicate with a neighboring vehicle to obtain a location of the neighboring vehicle. The controller is configured to output navigation information including a location of the host vehicle based on the location of the neighboring vehicle, a distance between the vehicles based on duration of a communication between the transceiver and the neighboring vehicle, and a detected relative angle between the vehicles.
Description
- The present disclosure relates to a navigation system of a host vehicle communicating with a neighboring vehicle to obtain information indicative of the location of the host vehicle.
- A navigation system of a vehicle uses the location of the vehicle in providing navigation functions. The navigation system communicates with, for example, a global navigation satellite system (GNSS) to obtain information indicative of the location of the vehicle. The navigation system uses this information to detect the location of the vehicle and uses the detected vehicle location in providing navigation functions.
- Sometimes the navigation system may be unable to communicate with the GNSS to obtain information indicative of the location of the vehicle. Consequently, the navigation system is unable to detect the location of the vehicle. For instance, the navigation system may have a malfunctioned global positioning system (GPS) receiver unable to communicate with the GNSS; or the GPS receiver and the GNSS are unable to communicate with one another due to the vehicle being driven through a tunnel, an area with tall buildings, etc. In the latter cases, communication between the GPS receiver and the GNSS is prevented due to the tunnel or buildings or other obstruction attenuating or obstructing the communication signals.
- A navigation system for a host vehicle includes a transceiver and a controller. The transceiver is configured to communicate with a neighboring vehicle to obtain a location of the neighboring vehicle. The controller is configured to output navigation information including a location of the host vehicle based on the location of the neighboring vehicle, a distance between the host vehicle and the neighboring vehicle based on duration of a communication between the transceiver and the neighboring vehicle, and a detected relative angle between the host vehicle and the neighboring vehicle.
- The navigation system may further include a global positioning system (GPS) receiver configured to obtain information indicative of the location of the host vehicle from a remote source. The controller is further configured to control the transceiver to communicate with the neighboring vehicle to obtain the location of the neighboring vehicle while the GPS receiver is unable to obtain the information indicative of the location of the host vehicle from the remote source.
- The transceiver may be further configured to communicate with a second neighboring vehicle to obtain a location of the second neighboring vehicle. In this case, the controller is further configured to output the location of the host vehicle further based on the location of the second neighboring vehicle.
- The navigation system may further include a driver vehicle interface configured to receive the detected relative angle between the host vehicle and the neighboring vehicle from a user of the host vehicle.
- The controller may be further configured to use a camera of the host vehicle to obtain the detected relative angle between the host vehicle and the neighboring vehicle.
- A navigation method for a host vehicle includes communicating between the host vehicle and a neighboring vehicle for the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle. The method further includes detecting a distance between the host vehicle and the neighboring vehicle based on duration of a communication between the host vehicle and the neighboring vehicle and detecting a relative angle between the host vehicle and the neighboring vehicle. The method further includes outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the neighboring vehicle, the distance between the host vehicle and the neighboring vehicle, and the relative angle between the host vehicle and the neighboring vehicle.
- Another navigation method for a host vehicle includes communicating between the host vehicle and a neighboring vehicle for the host vehicle to request the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle. This method further includes relaying the request of the host vehicle from the neighboring vehicle to a third vehicle to request the third vehicle to provide a location of the third vehicle to the neighboring vehicle, and relaying the location of the third vehicle from the neighboring vehicle to the host vehicle. This method further includes outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the third vehicle.
-
FIG. 1 illustrates a block diagram of a navigation system of a vehicle; -
FIG. 2 illustrates a block diagram of the navigation system of a host vehicle communicating with a neighboring vehicle to obtain the location of the neighboring vehicle and to detect a distance between the host vehicle and the neighboring vehicle; -
FIG. 3 illustrates a schematic diagram of the host vehicle and neighboring vehicles driving on the same portion of a road with the navigation system of the host vehicle communicating with one or more of the neighboring vehicles; -
FIG. 4 illustrates a flowchart depicting operation of the navigation system of the host vehicle communicating with a neighboring vehicle to obtain the location of the neighboring vehicle and to detect the distance between the host vehicle and the neighboring vehicle for the navigation system to detect the host vehicle's location based on the location of the neighboring vehicle and the distance between the host vehicle and the neighboring vehicle; -
FIG. 5A illustrates a schematic diagram of the host vehicle and a neighboring vehicle driving on a road with the navigation system of the host vehicle using a detected relative angle between the host vehicle and the neighboring vehicle in detecting the host vehicle's location; and -
FIG. 5B illustrates a schematic diagram of geometry corresponding to the relative angle between the host vehicle and the neighboring vehicle. - Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention.
- Referring now to
FIG. 1 , a block diagram of anavigation system 10 of a vehicle, such as avehicle 12, is shown.Navigation system 10 includes a global positioning system (GPS)receiver 14, acontroller 16, adriver vehicle interface 18, and atransceiver 20.Transceiver 20 is for vehicle-to-vehicle (V2V) communications.Transceiver 20 may employ Dedicated Short Range Communication (DSRC) technology.Transceiver 20 may be referred to herein as “DSRC transceiver” 20. -
GPS receiver 14 communicates with a remote global navigation satellite system (GNSS) or the like to obtain information indicative of the location ofvehicle 12 from the GNSS.Controller 16 detects the location ofvehicle 12 from the information obtained byGPS receiver 14 indicative of the location ofvehicle 12.Controller 16 generates navigation information based on the location ofvehicle 12 and outputs the navigation information todriver vehicle interface 18.Driver vehicle interface 18 may include a display screen or the like which displays the location ofvehicle 12 on a map for the driver to view. This process is ongoing so thatdriver vehicle interface 18 is updated as the location ofvehicle 12 changes while the vehicle is being driven. -
Transceiver 20 is able to communicate with corresponding V2V transceivers of vehicles which are located within the vicinity ofvehicle 12. A vehicle is within the vicinity ofvehicle 12 when, for example, both vehicles are driving along the same portion of a road. Vehicles within the vicinity ofvehicle 12 may be referred to herein as “neighboring vehicles,” “remote vehicles,” or “neighboring (remote) vehicles.” Correspondingly,vehicle 12 may be referred to herein as “the vehicle” or the “host vehicle.” - DSRC
transceiver 20 ofvehicle 12 is able to communicate with the DSRC transceiver of a neighboring vehicle over a wireless vehicle communications network (e.g., a DSRC communications network). In this way,vehicle 12 is able to communicate with neighboring vehicles. Further, using DSRC communications, a neighboring vehicle within the vicinity ofvehicle 12 may communicate with a third vehicle that is within the vicinity of the neighboring vehicle but is out of the vicinity ofvehicle 12. - Sometimes
GPS receiver 14 may be unable to communicate with the GNSS to obtain information indicative of the location ofvehicle 12. For instance,GPS receiver 14 may be malfunctioned or may be unable to communicate with the GNSS due tovehicle 12 being driven through a tunnel or an area with tall buildings.GPS receiver 14 may be unable to communicate with the GNSS when the tunnel or buildings block the communication signals betweenGPS receiver 14 and the GNSS. -
GPS receiver 14 does not providecontroller 16 with information indicative of the location ofvehicle 12 when the GPS receiver is unable to communicate with the GNSS. Consequently, without being provided with information indicative of the location ofvehicle 12 from another source,controller 16 is unable to detect the location ofvehicle 12. As a result,controller 16 is unable to output navigation information based on the location ofvehicle 12 todriver vehicle interface 18. - Referring now to
FIG. 2 , with continual reference toFIG. 1 , a block diagram ofnavigation system 10 ofhost vehicle 12 in communication with a neighboringvehicle 22 is shown.Navigation system 10 is able to communicate with neighboringvehicle 22 via a DSRC communications network. More descriptively, DSRC transceiver 20 ofnavigation system 10 and a DSRCtransceiver 24 of neighboringvehicle 22 are able to communicate with one another. - As described above,
controller 16 ofnavigation system 10 is unable to detect the location ofhost vehicle 12 using information fromGPS receiver 14 when the GPS receiver is unable to obtain such information. A solution includes anothersource providing controller 16 with information indicative of the location ofhost vehicle 12. - In accordance with the present disclosure,
navigation system 10 ofhost vehicle 12 communicates with one or more neighboring vehicles to obtain information indicative of the location ofhost vehicle 12. In particular,transceiver 20 ofhost vehicle 12 communicates withtransceiver 24 of neighboringvehicle 22 to obtain the location of the neighboring vehicle. As neighboringvehicle 22 is within the vicinity ofhost vehicle 12, the location of the neighboring vehicle is generally indicative of the location ofhost vehicle 12. Further, the communication process itself (e.g., duration of time consumed for transmitting and receiving RF signals betweentransceiver 20 ofhost vehicle 12 andtransceiver 24 of neighboring vehicle 22) is indicative of the distance between the host vehicle and the neighboring vehicle. The detected distance betweenhost vehicle 12 and neighboringvehicle 24 in conjunction with the location of the neighboring vehicle is further indicative of the location ofhost vehicle 12. - Neighboring
vehicle 22 includes its own navigation system having aGPS receiver 26 and acontroller 28.GPS receiver 26 of neighboringvehicle 22 is able to communicate with the GNSS to obtain information indicative of the location of neighboringvehicle 22. For instance,GPS receiver 26 of neighboringvehicle 22 is not malfunctioned, neighboringvehicle 22 is not within a tunnel, tall buildings do not block communication signals withGPS receiver 26, etc.Controller 28 of neighboringvehicle 22 detects the location of neighboringvehicle 22 from the information obtained byGPS receiver 26 indicative of the location of neighboringvehicle 22. -
Navigation system 10 ofhost vehicle 12 employstransceiver 20 to communicate withtransceiver 24 of neighboringvehicle 22 whenGPS receiver 14 is unable to provide information indicative of the location ofhost vehicle 12. The communications includetransceiver 20 of host vehicle 12 (“host transceiver 20”) requestingtransceiver 24 of neighboring vehicle 22 (“neighboringtransceiver 24”) to transmit the location of neighboringvehicle 22 to hosttransceiver 20. Neighboringtransceiver 24 responds by transmitting the location of neighboringvehicle 22 to hosttransceiver 20.Controller 16 receives the location of neighboringvehicle 22 fromhost transceiver 20.Controller 16 detects the general location ofhost vehicle 12 as being the obtained location of neighboringvehicle 22.Controller 16 detects the general location ofhost vehicle 12 being the location of neighboringvehicle 22 as the host vehicle and the neighboring vehicle are within the vicinity of one another.Controller 16 analyzes the communication signal transmission time betweentransceivers host vehicle 12 and neighboringvehicle 22.Controller 16 uses the detected distance to further specify the detected general location ofhost vehicle 12. - Referring now to
FIGS. 3 and 4 , with continual reference toFIGS. 1 and 2 , the operation ofnavigation system 10 ofhost vehicle 12 in communicating with one or moreneighboring vehicles 22 will be described in further detail. In this regard,FIG. 3 illustrates a schematic diagram ofhost vehicle 12 and neighboringvehicles road 30 withnavigation system 10 ofhost vehicle 12 communicating with one or more of the neighboring vehicles.FIG. 4 illustrates aflowchart 40 depicting the operation ofnavigation system 10 in communicating with one or more of the neighboringvehicles 22. -
Navigation system 10 ofhost vehicle 12 initiates communication with one or moreneighboring vehicles 22 whenGPS receiver 14 ofnavigation system 10 is unable to obtain location information indicative of the location ofhost vehicle 12. The communication involveshost transceiver 20 communicating withtransceiver 24 of a neighboringvehicle 22 to obtain the location of the neighboring vehicle.Controller 16 ofnavigation system 10 is thus made aware that the general location ofhost vehicle 12 is the location of neighboringvehicle 22.Controller 16 analyzes the communications to detect a distance betweenhost vehicle 12 and neighboringvehicle 22. As such,controller 16 detects the location ofhost vehicle 12 based on the location of neighboringvehicle 22 and the distance between the host vehicle and the neighboring vehicle. - In more detail, the operation commences when
GPS receiver 14 ofnavigation system 10 is unable to obtain location information indicative of the location ofhost vehicle 12 during a given time period for whatever reason as indicated inblock 42 ofFIG. 4 . In turn,controller 16 controls hosttransceiver 20 to communicate with one or moreneighboring vehicles 22 to obtain the location of each of the one or more neighboring vehicles as indicated inblock 44 ofFIG. 4 . - For instance, as shown in
FIG. 3 ,host transceiver 20 communicates with the DSRC transceiver of first neighboringvehicle 22 a via a firstDSRC network path 32 a and with the DSRC transceiver of second neighboring vehicle 22 b via a secondDSRC network path 32 b. The communications includehost transceiver 20 requesting from first neighboringvehicle 22 a the location of the first neighboring vehicle and the DSRC transceiver of the first neighboring vehicle transmitting the location of the first neighboring vehicle tohost transceiver 20. Likewise, the communications includehost transceiver 20 requesting from second neighboring vehicle 22 b the location of the second neighboring vehicle and the DSRC transceiver of the second neighboring vehicle transmitting the location of the second neighboring vehicle tohost transceiver 20. - As shown in
FIG. 3 ,host vehicle 12 and neighboringvehicles road 30 whereas neighboringvehicle 22 d is traveling in the opposite direction on the road. Preferably,host transceiver 20 communicates with neighboringvehicles 22 traveling in the same direction withhost vehicle 12 to obtain the locations of these neighboring vehicles. Neighboringvehicles 22 traveling in the same direction ashost vehicle 12 can provide continuous location data. -
Controller 16 ofnavigation system 10 receives fromhost transceiver 20 the location of a neighboringvehicle 22 and detects the general location ofhost vehicle 12 as being the location of the neighboring vehicle as indicated inblock 46 ofFIG. 4 . For instance, in the example in whichhost transceiver 20 obtains the locations of first and secondneighboring vehicles 22 a and 22 b,controller 16 uses the locations of the first and second neighboring vehicles in conjunction with one another to improve the accuracy of the detected location ofhost vehicle 12. As such,host transceiver 20 can communicate with multiple neighboringvehicles 22 to improve the accuracy of the detected location ofhost vehicle 12. - Further, the neighboring vehicles are dynamic. If a neighboring vehicle no longer stays with
host vehicle 12 on the route, thenDSRC transceiver 20 can communicate with other neighboring vehicles. -
Controller 16 ofnavigation system 10 detects the distance betweenhost vehicle 12 and a neighboring vehicle 22 (e.g., distance “Delta_d” 34 a betweenhost vehicle 12 and neighboringvehicle 22 a inFIG. 3 ) based on the time duration of communication betweenhost transceiver 20 and the transceiver of the neighboring vehicle as indicated inblock 48 ofFIG. 4 . - For instance,
controller 16 detects the distance betweenhost vehicle 12 and neighboringvehicle 22 via DSRC technology. For example, for a DSRC module implementing a TCP/IP stack, a method could be follows:host transceiver 20 sends a “ping” totransceiver 24 of neighboringvehicle 22;host transceiver 20 receives “reply” of the ping from neighboringtransceiver 24; andcontroller 16 calculates the round-trip time of “ping”-“reply”, which is indicative of the distance betweenhost vehicle 12 and neighboringvehicle 22. For example, assume the message processing time in a DSRC transceiver is fixed as T_process. The round-trip time (T_rtt) is then equal to 2*(T_process+signal_travel_time betweenvehicles 12 and 22). The signal_travel_time betweenvehicles vehicles -
Controller 16 likewise detects the distances betweenhost vehicle 12 and other neighboring vehicles 22 (e.g.,distance 34 b betweenhost vehicle 12 and second neighboring vehicle 22 b) in communication withnavigation system 10. -
Controller 16 detects the location ofhost vehicle 12 based on the obtained location of a neighboringvehicle 22 and the detected distance betweenhost vehicle 12 and the neighboring vehicle as indicated in block 50 ofFIG. 4 . For instance, in the example in whichhost transceiver 20 obtains the locations of first and secondneighboring vehicles 22 a and 22 b and detects distances betweenhost vehicle 12 and each of the first and second neighboring vehicles,controller 16 uses the obtained locations and the detected distances in conjunction with one another to further improve the accuracy of the detected location ofhost vehicle 12. -
Controller 16 uses the detected location ofhost vehicle 12 in providing navigation information todriver vehicle interface 18 as indicated inblock 52 ofFIG. 4 . Alternately,controller 16 may use the detected general location of host vehicle 12 (detected inblock 46 ofFIG. 4 ) in providing navigation information todriver vehicle interface 18 when the distance betweenhost vehicle 12 and neighboringvehicle 22 is relatively small. - Referring further to
FIG. 3 , a neighboringvehicle 22 within the vicinity ofhost vehicle 12 may communicate with a third vehicle that is within the vicinity of the neighboring vehicle, but it not within the vicinity ofhost vehicle 12. In this case, the third vehicle is a neighboring vehicle to neighboringvehicle 22, but is not a neighboring vehicle tohost vehicle 12. For illustration, assume that the third vehicle isthird vehicle 22 c shown inFIG. 3 .Third vehicle 22 c is therefore considered to be within the vicinity of first neighboringvehicle 22 a, but is not considered to be within the vicinity ofhost vehicle 12. Accordingly,navigation system 10 ofhost vehicle 12 does not communicate directly withthird vehicle 22 c. - However, first neighboring
vehicle 22 a can communicate directly withthird vehicle 22 c and may therefore relay a location request fromhost vehicle 12 to the third vehicle. Such capability may be employed when the GPS receivers of bothhost vehicle 12 and first neighboringvehicle 22 a are unable to obtain information indicative of the locations of their respective vehicles. This may occur when bothhost vehicle 12 and first neighboringvehicle 22 a are in a tunnel or an area with tall buildings. On the other hand,third vehicle 22 c is farther downroad 30 and therefore is out of the tunnel or the area with tall buildings. Accordingly, the GPS receiver ofthird vehicle 22 c is able to obtain information indicative of the location of the third vehicle. - In operation,
navigation system 10 ofhost vehicle 12 transmits a location request to first neighboringvehicle 22 a which relays the request tothird vehicle 22 c.Third vehicle 22 c responds to the request by transmitting its location to first neighboringvehicle 22 a which in turn relays the location ofthird vehicle 22 c tonavigation system 10. The communication signal relayed from first neighboringvehicle 22 a tohost transceiver 20 may include information indicating that the location request was relayed tothird vehicle 22 c or the like.Controller 16 ofnavigation system 10 receives fromhost transceiver 20 the location ofthird vehicle 22 c and detects the general location ofhost vehicle 12 as being the location of the third vehicle. - In this way, for instance, if
host vehicle 12 and neighboring vehicles are all in a tunnel, then the location request may be relayed by the neighboring vehicles to eventually reach a vehicle located outside of the tunnel. Further, the relaying may include relaying between multiple vehicles in a sequential fashion or the like (e.g., between a neighboring vehicle ofhost vehicle 12 and one or more other vehicles which are not within the vicinity of host vehicle 12) until a vehicle having an operable GPS receiver responds with its location. - Thus, when
host vehicle 12 and other vehicles are in a tunnel,host vehicle 12 may not be able to obtain the location data directly from its immediateneighboring vehicles 22. Immediate neighboringvehicles 22 may request the data from their immediate neighboring vehicles, who in turn may request the data from their immediate neighbors. Eventually, the location data can be obtained from a vehicle at the exit (or entrance) of the tunnel. - Referring now to
FIGS. 5A and 5B , with continual reference toFIGS. 1, 2, 3, and 4 , operation ofnavigation system 10 ofhost vehicle 12 using a detected relative angle betweenhost vehicle 12 and a neighboringvehicle 22 in detecting the location of the host vehicle will be described. In this regard,FIG. 5A illustrates a schematic diagram ofhost vehicle 12 and neighboringvehicle 22 driving on a road withnavigation system 10 using a detected relative angle α betweenhost vehicle 12 and neighboringvehicle 22 in detecting the location ofhost vehicle 12.FIG. 5B illustrates a schematic diagram of geometry corresponding to the relative angle α betweenhost vehicle 12 and neighboringvehicle 22. - The operation of
navigation system 10 using detected relative angle α betweenhost vehicle 12 and a neighboringvehicle 22 in detecting the location ofhost vehicle 12 follows the operation ofnavigation system 10 in obtaining the location of neighboringvehicle 22 and detecting adistance 34 betweenhost vehicle 12 and neighboringvehicle 22. As described herein,host transceiver 20 communicates with neighboringvehicle 22 for the neighboring vehicle to provide its location tonavigation system 10 ofhost vehicle 12 andcontroller 16 ofnavigation system 10 analyzes the communication duration to detectdistance 34 betweenhost vehicle 12 and the neighboring vehicle. As such,controller 16 detects the location ofhost vehicle 12 based on the location of neighboringvehicle 22 and the distance between the host vehicle and the neighboring vehicle. -
Controller 16 further refines the detected location ofhost vehicle 12 using relative angle α betweenhost vehicle 12 and neighboringvehicle 22. In operation,controller 16 uses the exterior cameras or the like ofhost vehicle 12 to detect relative angle α betweenhost vehicle 12 and neighboring vehicle 22 (indicated inblock 54 ofFIG. 4 ). The driver ofhost vehicle 12 may manually input relative angle α tocontroller 16 viadriver vehicle interface 18.Controller 16 calculates the absolute angle ofhost vehicle 12 to neighboringvehicle 22 facing North direction δ_n=β−α.Controller 16 then calculates distance (Delta_d) 34 (in meters) to North and East using the following equations: -
Delta_longitude=sine(δ_n)*Delta_d -
Delta_latitude=cosine(δ_n)*Delta_d -
Controller 16 therefore detects a more accurate location ofhost vehicle 12 based on the location of neighboring vehicle, the detecteddistance 34 betweenhost vehicle 12 and neighboringvehicle 22, and the Delta_longitude and Delta_latitude components (indicated inblock 56 ofFIG. 4 ).Controller 16 uses the Delta_longitude and Delta_lattitude components to calculate the location ofhost vehicle 12 in coordinates decimal degrees. - The description regarding
FIGS. 5A and 5B is obviously just one example. The road direction could be in any other direction. The calculations for other road directions would be done in similar fashion as described with regards toFIGS. 5A and 5B . -
Controller 16 continues to calculate the location data (i.e., the latitude and longitude) ofhost vehicle 12 using the location of neighboring vehicle, the detecteddistance 34 betweenhost vehicle 12 and neighboringvehicle 22, and the Delta_longitude and Delta_latitude components in accordance with the following algorithm. - //Earth's spherical mean radius,
- R=6371009
- //Host vehicle coordinate offsets in radians
-
dLat=Delta_latitude/R -
dLon=Delta_longtitude/(R*Cosine(Pi*Neighboring_vehicle_latitude/180)) - //Host vehicle position data in decimal degrees
-
Host_vehicle_latitude=Neighboring_vehicle_latitude+dLat*180/Pi -
Host_vehicle_longitude=Neighboring_vehicle_longitude+dLon*180/Pi -
Controller 16 uses this more accurate detected location ofhost vehicle 12 in providing navigation information todriver vehicle interface 18. - If
host vehicle 12 and neighboring vehicles are all in a tunnel, then the neighboring vehicle next to a vehicle located outside of the tunnel can calculate the location data similarly and then relay its calculated location data to its next neighboring vehicle in the tunnel. Its next neighboring vehicle then calculates its location data and relays to its neighboring vehicle behind. In this fashion,host vehicle 12 can eventually obtain the location data of its neighboring vehicle just in front of it, and calculate its location data. - While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms of the present invention. Rather, the words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention. Additionally, the features of various implementing embodiments may be combined to form further embodiments of the present invention.
Claims (17)
1. A navigation system for a host vehicle comprising:
a transceiver configured to communicate with a neighboring vehicle to obtain a location of the neighboring vehicle; and
a controller configured to output navigation information including a location of the host vehicle based on the location of the neighboring vehicle, a distance between the vehicles based on duration of a communication between the transceiver and the neighboring vehicle, and a detected relative angle between the vehicles.
2. The navigation system of claim 1 wherein:
the transceiver is a dedicated short range communication transceiver.
3. The navigation system of claim 1 further comprising:
a global positioning system (GPS) receiver configured to obtain information indicative of the location of the host vehicle from a remote source; and
wherein the controller is further configured to control the transceiver to communicate with the neighboring vehicle to obtain the location of the neighboring vehicle while the GPS receiver is unable to obtain the information indicative of the location of the host vehicle from the remote source.
4. The navigation system of claim 1 wherein:
the transceiver is further configured to communicate with a second neighboring vehicle to obtain a location of the second neighboring vehicle; and
the controller is further configured to output the location of the host vehicle further based on the location of the second neighboring vehicle.
5. The navigation system of claim 1 further comprising:
a driver vehicle interface configured to receive the detected relative angle from a user of the host vehicle.
6. The navigation system of claim 1 wherein:
the controller is further configured to use a camera of the host vehicle to obtain the detected relative angle.
7. A navigation method for a host vehicle comprising:
communicating between the host vehicle and a neighboring vehicle for the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle;
detecting a distance between the host vehicle and the neighboring vehicle based on duration of a communication between the host vehicle and the neighboring vehicle;
detecting a relative angle between the host vehicle and the neighboring vehicle; and
outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the neighboring vehicle, the distance between the host vehicle and the neighboring vehicle, and the relative angle between the host vehicle and the neighboring vehicle.
8. The navigation method of claim 7 wherein:
the communicating between the vehicles includes using dedicated short range communication technology.
9. The navigation method of claim 7 further comprising:
attempting to obtain information indicative of the location of the host vehicle from a remote source; and
wherein the communicating is performed while the information indicative of the location of the host vehicle is unable to be obtained from the remote source.
10. The navigation method of claim 7 further comprising:
communicating between the host vehicle and a second neighboring vehicle for the second neighboring vehicle to provide a location of the second neighboring vehicle to the host vehicle; and
wherein the location of the host vehicle is further based on the location of the second neighboring vehicle.
11. The navigation method of claim 7 wherein:
the detecting the relative angle includes receiving the relative angle from a user of the host vehicle.
12. The navigation method of claim 7 wherein:
the detecting the relative angle includes using a camera of the host vehicle to obtain the relative angle.
13. The navigation method of claim 7 wherein:
the distance between the host vehicle and the neighboring vehicle is detected based on duration of a radio-frequency wireless communication between the host vehicle and the neighboring vehicle.
14. The navigation method of claim 7 wherein:
the distance between the host vehicle and the neighboring vehicle is detected based on duration of an ultrasonic communication between the host vehicle and the neighboring vehicle.
15. A navigation method for a host vehicle comprising:
communicating between the host vehicle and a neighboring vehicle for the host vehicle to request the neighboring vehicle to provide a location of the neighboring vehicle to the host vehicle;
relaying the request of the host vehicle from the neighboring vehicle to a third vehicle to request the third vehicle to provide a location of the third vehicle to the neighboring vehicle, and relaying the location of the third vehicle from the neighboring vehicle to the host vehicle; and
outputting, on a navigation interface at the host vehicle, navigation information including a location of the host vehicle based on the location of the third vehicle.
16. The navigation method of claim 15 wherein:
the communicating between the vehicles includes using Dedicated Short Range Communication technology.
17. The navigation method of claim 15 further comprising:
attempting to obtain information indicative of the location of the host vehicle from a remote source; and
wherein the communicating is performed while the information indicative of the location of the host vehicle is unable to be obtained from the remote source.
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/959,413 US20170160401A1 (en) | 2015-12-04 | 2015-12-04 | Vehicle Navigation System Having Location Assistance from Neighboring Vehicles |
DE102016121928.2A DE102016121928A1 (en) | 2015-12-04 | 2016-11-15 | Vehicle navigation system with position support of neighboring vehicles |
RU2016145915A RU2016145915A (en) | 2015-12-04 | 2016-11-23 | VEHICLE NAVIGATION SYSTEM GETTING ASSISTANCE OF DETERMINATION OF LOCATION FROM NEARBY VEHICLES |
MX2016015777A MX2016015777A (en) | 2015-12-04 | 2016-11-30 | Vehicle navigation system having location assistance from neighboring vehicles. |
GB1620443.0A GB2545098A (en) | 2015-12-04 | 2016-12-01 | Vehicle navigation system having location assistance from neighboring vehicles |
CN201611100563.3A CN107037471A (en) | 2015-12-04 | 2016-12-05 | The Vehicular navigation system of auxiliary positioning is carried out by Adjacent vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/959,413 US20170160401A1 (en) | 2015-12-04 | 2015-12-04 | Vehicle Navigation System Having Location Assistance from Neighboring Vehicles |
Publications (1)
Publication Number | Publication Date |
---|---|
US20170160401A1 true US20170160401A1 (en) | 2017-06-08 |
Family
ID=58159618
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/959,413 Abandoned US20170160401A1 (en) | 2015-12-04 | 2015-12-04 | Vehicle Navigation System Having Location Assistance from Neighboring Vehicles |
Country Status (6)
Country | Link |
---|---|
US (1) | US20170160401A1 (en) |
CN (1) | CN107037471A (en) |
DE (1) | DE102016121928A1 (en) |
GB (1) | GB2545098A (en) |
MX (1) | MX2016015777A (en) |
RU (1) | RU2016145915A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9913199B1 (en) * | 2017-06-27 | 2018-03-06 | Ge Aviation Systems Llc | Providing communication over a plurality of networks |
WO2019133374A1 (en) * | 2017-12-29 | 2019-07-04 | Walmart Apollo, Llc | System and method for determining autonomous vehicle location using incremental image analysis |
CN110780321A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技(深圳)有限公司 | Vehicle positioning method and device |
US20220020268A1 (en) * | 2020-07-16 | 2022-01-20 | Toyota Motor North America, Inc. | Methods and systems for enhancing vehicle data access capabilities |
TWI753480B (en) * | 2020-06-05 | 2022-01-21 | 英華達股份有限公司 | Fleet management control system and method based on car networking |
US20220057473A1 (en) * | 2020-08-21 | 2022-02-24 | Honeywell International Inc. | Systems and methods for cross-reference navigation using low latency communications |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110087192B (en) * | 2018-01-26 | 2023-01-20 | 博世汽车部件(苏州)有限公司 | Method, apparatus and control device for facilitating position determination |
CN109774626A (en) * | 2018-12-26 | 2019-05-21 | 重庆西部汽车试验场管理有限公司 | To anti-collision warning test macro and method before vehicle based on V2X |
CN109931936A (en) * | 2019-03-18 | 2019-06-25 | 西北工业大学 | A kind of weak connectedness AUV collaborative navigation method based on mobile-relay station |
CN110988945A (en) * | 2019-12-05 | 2020-04-10 | 江苏满运软件科技有限公司 | Vehicle distance measuring method, system, equipment and storage medium |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100164789A1 (en) * | 2008-12-30 | 2010-07-01 | Gm Global Technology Operations, Inc. | Measurement Level Integration of GPS and Other Range and Bearing Measurement-Capable Sensors for Ubiquitous Positioning Capability |
KR101545722B1 (en) * | 2013-11-26 | 2015-08-19 | 현대모비스 주식회사 | Apparatus for controlling complementing position of vehicle, and system and method for complementing position of vehicle with the said apparatus |
TWI503560B (en) * | 2013-12-25 | 2015-10-11 | 財團法人工業技術研究院 | Vehicle position calibration method and apparatus |
CN104079670A (en) * | 2014-07-22 | 2014-10-01 | 中国石油大学(华东) | Multi-vehicle cooperative distance measurement method based on DSRC (dedicated short range communication) technology |
CN104569911B (en) * | 2014-10-29 | 2017-05-24 | 深圳市金溢科技股份有限公司 | OBU positioning method, RSU and ETC system |
-
2015
- 2015-12-04 US US14/959,413 patent/US20170160401A1/en not_active Abandoned
-
2016
- 2016-11-15 DE DE102016121928.2A patent/DE102016121928A1/en not_active Withdrawn
- 2016-11-23 RU RU2016145915A patent/RU2016145915A/en not_active Application Discontinuation
- 2016-11-30 MX MX2016015777A patent/MX2016015777A/en unknown
- 2016-12-01 GB GB1620443.0A patent/GB2545098A/en not_active Withdrawn
- 2016-12-05 CN CN201611100563.3A patent/CN107037471A/en not_active Withdrawn
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9913199B1 (en) * | 2017-06-27 | 2018-03-06 | Ge Aviation Systems Llc | Providing communication over a plurality of networks |
WO2019133374A1 (en) * | 2017-12-29 | 2019-07-04 | Walmart Apollo, Llc | System and method for determining autonomous vehicle location using incremental image analysis |
US11079242B2 (en) * | 2017-12-29 | 2021-08-03 | Walmart Apollo, Llc | System and method for determining autonomous vehicle location using incremental image analysis |
CN110780321A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技(深圳)有限公司 | Vehicle positioning method and device |
TWI753480B (en) * | 2020-06-05 | 2022-01-21 | 英華達股份有限公司 | Fleet management control system and method based on car networking |
US20220020268A1 (en) * | 2020-07-16 | 2022-01-20 | Toyota Motor North America, Inc. | Methods and systems for enhancing vehicle data access capabilities |
US11302181B2 (en) * | 2020-07-16 | 2022-04-12 | Toyota Motor North America, Inc. | Methods and systems for enhancing vehicle data access capabilities |
US20220057473A1 (en) * | 2020-08-21 | 2022-02-24 | Honeywell International Inc. | Systems and methods for cross-reference navigation using low latency communications |
US11719783B2 (en) * | 2020-08-21 | 2023-08-08 | Honeywell International Inc. | Systems and methods for cross-reference navigation using low latency communications |
Also Published As
Publication number | Publication date |
---|---|
RU2016145915A (en) | 2018-05-23 |
GB2545098A (en) | 2017-06-07 |
GB201620443D0 (en) | 2017-01-18 |
DE102016121928A1 (en) | 2017-06-08 |
MX2016015777A (en) | 2017-08-15 |
CN107037471A (en) | 2017-08-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20170160401A1 (en) | Vehicle Navigation System Having Location Assistance from Neighboring Vehicles | |
US11487020B2 (en) | Satellite signal calibration system | |
US9162682B2 (en) | Method and device for determining the speed and/or position of a vehicle | |
US10473793B2 (en) | V2V collaborative relative positioning system | |
US8229663B2 (en) | Combined vehicle-to-vehicle communication and object detection sensing | |
JP2018066728A (en) | Position estimation of vehicle using wireless vehicle data | |
US10725144B2 (en) | Transmitters-based localization on freeway | |
JP5145735B2 (en) | Positioning device and positioning system | |
WO2020151663A1 (en) | Vehicle positioning apparatus, system and method, and vehicle | |
CN105270399A (en) | Apparatus and method for controlling vehicle using vehicle communication | |
US20150066364A1 (en) | Navigation system | |
US10955856B2 (en) | Method and system for guiding an autonomous vehicle | |
JP2008046873A (en) | Vehicle identification device and position calculation device | |
EP3505965A1 (en) | A positioning system and method | |
JP2018109815A (en) | Travel support device, travel support method, and program for allowing computer to function as travel support device | |
JP2015005113A (en) | Determination device, receiving device, control method, program and storage medium | |
US11187815B2 (en) | Method of determining location of vehicle, apparatus for determining location, and system for controlling driving | |
US11366237B2 (en) | Mobile object, positioning system, positioning program, and positioning method | |
KR20180083745A (en) | System and vehicle for providing precise position information of road landmarks | |
US11333522B2 (en) | Localization system | |
JP2016143088A (en) | Position detection system and on-vehicle information processing apparatus | |
JP2018085133A (en) | Determination device, receiving device, control method, program, and storage medium | |
WO2021086525A1 (en) | Systems, devices, and methods for synchronization | |
US20220043163A1 (en) | Proximity-based navigation method | |
JP2010272125A (en) | On-board device and repeater |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: FORD GLOBAL TECHNOLOGIES, LLC, MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:LEI, OLIVER;REEL/FRAME:037212/0997 Effective date: 20151204 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: FINAL REJECTION MAILED |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |